TimeCrafters/CenterStage
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congfiguration added for depositor variables

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This commit is contained in:
SpencerPiha
2023-10-05 20:31:26 -05:00
parent 8c7017bf13
commit 800d7d1be9
2 changed files with 46 additions and 12 deletions
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17
TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java
View File

@@ -12,11 +12,16 @@ import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.Servo;
import org.timecrafters.Library.Robot;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import dev.cyberarm.engine.V2.CyberarmEngine;
public class PrototypeRobot extends Robot {
public float ELBOW_COLLECT;
public float ELBOW_DEPOSIT;
public float SHOULDER_COLLECT;
public float SHOULDER_DEPOSIT;
private HardwareMap hardwareMap;
public MotorEx frontLeft, frontRight, backLeft, backRight, lift;
public IMU imu;
@@ -25,10 +30,19 @@ public class PrototypeRobot extends Robot {
private String string;
private CyberarmEngine engine;
public TimeCraftersConfiguration configuration;
public PrototypeRobot(String string) {
this.string = string;
}
public void initConstants(){
ELBOW_DEPOSIT = configuration.variable("Robot", "Tuning", "ELBOW_DEPOSIT").value();
ELBOW_COLLECT = configuration.variable("Robot", "Tuning", "ELBOW_COLLECT").value();
SHOULDER_DEPOSIT = configuration.variable("Robot", "Tuning", "SHOULDER_DEPOSIT").value();
SHOULDER_COLLECT = configuration.variable("Robot", "Tuning", "SHOULDER_COLLECT").value();
}
@Override
public void setup() {
System.out.println("Bacon: " + this.string);
@@ -44,6 +58,9 @@ public class PrototypeRobot extends Robot {
backLeft = new MotorEx(hardwareMap, "backLeft");
lift = new MotorEx(hardwareMap, "lift");
configuration = new TimeCraftersConfiguration("Robbie");
initConstants();
frontRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);
backRight.motor.setDirection(DcMotorSimple.Direction.FORWARD);

41
TeamCode/src/main/java/org/timecrafters/CenterStage/States/PrototypeRobotDrivetrainState.java
View File

@@ -14,22 +14,22 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
this.robot = robot;
}
@Override
public void exec() {
// drivetrain
robot.driveTrainTeleOp();
// --------------------------------------------------------------------------------------------------------- Depositor control function
private void depositorTeleOp(){
// flip arms
if (engine.gamepad1.x) {
robot.depositorShoulder.setPosition(0.75);
// shoulder deposit
robot.depositorShoulder.setPosition(robot.SHOULDER_DEPOSIT);
// shoulder collect
} else if (engine.gamepad1.a) {
robot.depositorShoulder.setPosition(0.05);
robot.depositorShoulder.setPosition(robot.SHOULDER_COLLECT);
}
if (engine.gamepad1.y){
robot.depositorElbow.setPosition(0.33);
// elbow deposit
robot.depositorElbow.setPosition(robot.ELBOW_DEPOSIT);
// elbow collect
} else if (engine.gamepad1.b){
robot.depositorElbow.setPosition(0);
robot.depositorElbow.setPosition(robot.ELBOW_COLLECT); // Collect / transfer = 0
}
// depositor
@@ -39,8 +39,9 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
robot.depositor.setPosition(0.2);
}
// lift
}
// --------------------------------------------------------------------------------------------------------- Slider control function
private void sliderTeleOp(){
if (engine.gamepad1.right_trigger != 0){
if (robot.lift.getCurrentPosition() >= maxExtension){
robot.lift.motor.setPower(0);
@@ -61,6 +62,18 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
} else {
robot.lift.motor.setPower(0);
}
}
@Override
public void exec() {
// drivetrain
robot.driveTrainTeleOp();
// depositor
depositorTeleOp();
// lift
sliderTeleOp();
}
@@ -69,5 +82,9 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
public void telemetry() {
engine.telemetry.addData("Lift Encoder Pos", robot.lift.motor.getCurrentPosition());
engine.telemetry.addData("imu", robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES));
engine.telemetry.addData("Elbow Collect", robot.ELBOW_COLLECT);
engine.telemetry.addData("Elbow Deposit", robot.ELBOW_DEPOSIT);
engine.telemetry.addData("Shoulder Collect", robot.SHOULDER_COLLECT);
engine.telemetry.addData("Shoulder Deposit", robot.SHOULDER_DEPOSIT);
}
}